SetChannelValueCommand.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.commands.bcs.io;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.ISendable;
import com.neuronrobotics.sdk.common.InvalidResponseException;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
import com.neuronrobotics.sdk.dyio.InvalidChannelOperationException;
 
// TODO: Auto-generated Javadoc
public class SetChannelValueCommand extends BowlerAbstractCommand { 
    
    public SetChannelValueCommand(int channel, int value, DyIOChannelMode mode) {
        setMethod(BowlerMethod.POST);
        setOpCode("schv");
        getCallingDataStorage().add(channel);
        switch(mode) {
        case ANALOG_OUT:
            getCallingDataStorage().addAs16(value);
            break;
        case COUNT_OUT_INT:
        case COUNT_OUT_DIR:
        case COUNT_OUT_HOME:
            getCallingDataStorage().addAs32(value);
            getCallingDataStorage().addAs32(0);
            break;
        default:
            getCallingDataStorage().add(value);
            break;
        }
    }
    
    public SetChannelValueCommand(int channel, int value, float time, DyIOChannelMode mode) {
        setMethod(BowlerMethod.POST);
        setOpCode("schv");
        
        getCallingDataStorage().add(channel);
        switch(mode){
        case COUNT_OUT_INT:
        case COUNT_OUT_DIR:
        case COUNT_OUT_HOME:
            getCallingDataStorage().addAs32(value);
            //Time is in seconds, the converts to Ms then sends as 16 bit value
            getCallingDataStorage().addAs32((int)(time*1000));
            break;
        case SERVO_OUT:
            getCallingDataStorage().add(value);
            //Time is in seconds, the converts to Ms then sends as 16 bit value
            getCallingDataStorage().addAs16((int)(time*1000));
            break;
        default:
            getCallingDataStorage().add(value);
        }
    }
    
    public SetChannelValueCommand(int channel, ISendable data) {
        setMethod(BowlerMethod.POST);
        setOpCode("schv");
        
        getCallingDataStorage().add(channel);
        getCallingDataStorage().add(data);
    }
    
    public SetChannelValueCommand(int channel, int value, DyIOChannelMode mode,boolean saveTheValue) {
        switch(mode) {
        case SERVO_OUT:
        case PWM_OUT:
            if(saveTheValue)
                setMethod(BowlerMethod.CRITICAL);
            else
                setMethod(BowlerMethod.POST);
            setOpCode("schv");
            getCallingDataStorage().add(channel);
            getCallingDataStorage().add(value);
            break;
        default:
            throw new InvalidChannelOperationException();
        }
    }
    
    public SetChannelValueCommand(int channel, int [] value, DyIOChannelMode mode) {
        switch(mode) {
        case PPM_IN:
            setMethod(BowlerMethod.POST);
            setOpCode("schv");
            getCallingDataStorage().add(channel);
            getCallingDataStorage().add(value);
            break;
        default:
            throw new InvalidChannelOperationException();
        }
    }
    
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    @Override
    public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException {
        super.validate(data);
        if (data==null)
            throw new InvalidResponseException("Set Channel Value did not respond");
        if(!data.getRPC().equals("_rdy") && !data.getRPC().equals("schv") ) {
            throw new InvalidResponseException("Set Channel Value did not return '_rdy'.");
        }
        
        return data;
    }
 
}